PlanningContext for obtaining trajectories. More...
#include <planning_context_base.h>
Public Member Functions | |
| PlanningContextBase (const std::string &name, const std::string &group, const moveit::core::RobotModelConstPtr &model, const pilz_industrial_motion_planner::LimitsContainer &limits) | |
| ~PlanningContextBase () override | |
| void | solve (planning_interface::MotionPlanResponse &res) override |
| Calculates a trajectory for the request this context is currently set for. More... | |
| void | solve (planning_interface::MotionPlanDetailedResponse &res) override |
| Will return the same trajectory as solve(planning_interface::MotionPlanResponse& res) This function just delegates to the common response however here the same trajectory is stored with the descriptions "plan", "simplify", "interpolate". More... | |
| bool | terminate () override |
| Will terminate solve() More... | |
| void | clear () override |
| Clear the data structures used by the planner. More... | |
 Public Member Functions inherited from planning_interface::PlanningContext | |
| PlanningContext (const std::string &name, const std::string &group) | |
| Construct a planning context named name for the group group. More... | |
| virtual | ~PlanningContext () |
| const std::string & | getGroupName () const |
| Get the name of the group this planning context is for. More... | |
| const std::string & | getName () const |
| Get the name of this planning context. More... | |
| const planning_scene::PlanningSceneConstPtr & | getPlanningScene () const |
| Get the planning scene associated to this planning context. More... | |
| const MotionPlanRequest & | getMotionPlanRequest () const |
| Get the motion plan request associated to this planning context. More... | |
| void | setPlanningScene (const planning_scene::PlanningSceneConstPtr &planning_scene) |
| Set the planning scene for this context. More... | |
| void | setMotionPlanRequest (const MotionPlanRequest &request) |
| Set the planning request for this context. More... | |
Public Attributes | |
| std::atomic_bool | terminated_ |
| Flag if terminated. More... | |
| moveit::core::RobotModelConstPtr | model_ |
| The robot model. More... | |
| pilz_industrial_motion_planner::LimitsContainer | limits_ |
| Joint limits to be used during planning. More... | |
Protected Attributes | |
| GeneratorT | generator_ |
| Protected Attributes inherited from planning_interface::PlanningContext | |
| std::string | name_ |
| The name of this planning context. More... | |
| std::string | group_ |
| The group (as in the SRDF) this planning context is for. More... | |
| planning_scene::PlanningSceneConstPtr | planning_scene_ |
| The planning scene for this context. More... | |
| MotionPlanRequest | request_ |
| The planning request for this context. More... | |
Detailed Description
template<typename GeneratorT>
class pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >
PlanningContext for obtaining trajectories.
Definition at line 56 of file planning_context_base.h.
Constructor & Destructor Documentation
◆ PlanningContextBase()
|
inline |
Definition at line 165 of file planning_context_base.h.
◆ ~PlanningContextBase()
|
inlineoverride |
Definition at line 70 of file planning_context_base.h.
Member Function Documentation
◆ clear()
|
overridevirtual |
Clear the data structures used by the planner.
Implements planning_interface::PlanningContext.
Definition at line 165 of file planning_context_base.h.
◆ solve() [1/2]
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overridevirtual |
Will return the same trajectory as solve(planning_interface::MotionPlanResponse& res) This function just delegates to the common response however here the same trajectory is stored with the descriptions "plan", "simplify", "interpolate".
- Parameters
-
res The detailed response
- Returns
- true on success, false otherwise
Implements planning_interface::PlanningContext.
Definition at line 133 of file planning_context_base.h.
◆ solve() [2/2]
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overridevirtual |
Calculates a trajectory for the request this context is currently set for.
- Parameters
-
res The result containing the respective trajectory, or error_code on failure
- Returns
- true on success, false otherwise
Implements planning_interface::PlanningContext.
Definition at line 120 of file planning_context_base.h.
◆ terminate()
|
overridevirtual |
Will terminate solve()
- Returns
- Note
- Currently will not stop a running solve but not start future solves.
Implements planning_interface::PlanningContext.
Definition at line 156 of file planning_context_base.h.
Member Data Documentation
◆ generator_
|
protected |
Definition at line 116 of file planning_context_base.h.
◆ limits_
| pilz_industrial_motion_planner::LimitsContainer pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >::limits_ |
Joint limits to be used during planning.
Definition at line 113 of file planning_context_base.h.
◆ model_
| moveit::core::RobotModelConstPtr pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >::model_ |
The robot model.
Definition at line 110 of file planning_context_base.h.
◆ terminated_
| std::atomic_bool pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >::terminated_ |
Flag if terminated.
Definition at line 107 of file planning_context_base.h.
The documentation for this class was generated from the following file:
- moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_base.h
